✨ feat(gps): 新增GPS海拔数据支持并优化系统配置

- 在数据包结构中新增gps_altitude字段以支持海拔数据存储
- 更新PackData和PackCorrectedData系列函数，增加altitude参数
- 移除timestamp字段以精简数据包结构，提高传输效率
- 优化GPS数据处理逻辑，取消GPS有效性检查，直接使用原始GPS数据
- 将调试输出和监控保存间隔统一调整为30秒，降低系统负载
- 将数据存储文件最大大小从20MB提升至100MB，支持更长时间数据采集
- 将GPS数据超时时间从2秒延长至10秒，提高在弱信号环境下的稳定性

🔧 chore(spi): 调整SPI配置以优化通信稳定性

- 将所有SPI接口的时钟相位从SPI_PHASE_1EDGE调整为SPI_PHASE_2EDGE
- 将SPI1的波特率预分频器从4调整为8，降低通信速率以提高稳定性
- 更新STM32CubeMX配置文件(.ioc)以反映SPI配置变更

📝 docs(script): 新增高性能数据分析工具脚本

- 创建atem_parse.py脚本，提供数据解析和可视化功能
- 支持V1/V2数据格式解析，V2版本包含GPS经纬度和海拔数据
- 实现串口实时数据接收和GPS动态模拟输出功能
- 提供波形图、轨迹图和海拔曲线等多标签可视化界面
- 包含数据表格展示和CSV导出功能，支持高性能大数据处理

Core/Src/main.c

@@ -50,8 +50,8 @@
 /* USER CODE BEGIN PD */
 // 监控功能宏开关（统一控制串口输出和文件存储）
 #define ENABLE_SYSTEM_MONITOR       1       // 系统监控开关
-#define DEBUG_OUTPUT_INTERVAL_MS    1000    // 调试输出间隔(毫秒)
+#define DEBUG_OUTPUT_INTERVAL_MS    30000    // 调试输出间隔(毫秒)
-#define MONITOR_SAVE_INTERVAL_MS    10000   // 监控状态保存间隔(毫秒) - 10秒
+#define MONITOR_SAVE_INTERVAL_MS    30000   // 监控状态保存间隔(毫秒) - 30秒
 
 // 数据输出模式选择（运行时配置，从SD卡加载）
 // 注意：DATA_OUTPUT_MODE_UART 和 DATA_OUTPUT_MODE_STORAGE 已改为运行时配置
@@ -185,8 +185,12 @@ static void ProcessAdcData(void)
                            &correction_result, &g_correction_params) == HAL_OK) {
 
           // 4a. 打包校正后的数据（带GPS关键信息：仅经纬度）
-          float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
+          // float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
-          float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
+          // float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
+          // float alt = gps_valid ? (float)current_gps_data.position.altitude : 0.0f;
+          float lat = (float)current_gps_data.position.latitude;
+          float lon = (float)current_gps_data.position.longitude;
+          float alt = (float)current_gps_data.position.altitude;
           uint32_t gps_time = gps_valid ? (current_gps_data.time.hour * 10000 + 
                                            current_gps_data.time.minute * 100 + 
                                            current_gps_data.time.second) : 0;
@@ -197,7 +201,8 @@ static void ProcessAdcData(void)
                            correction_result.corrected_z,
                            gps_time,
                            lat,
-                           lon);
+                           lon,
+                          alt);
 
           correction_applied = 1;
 
@@ -209,13 +214,17 @@ static void ProcessAdcData(void)
        } else {
           
           // 4b. 校正失败或未启用，使用原始数据
-          float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
+          // float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
-          float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
+          // float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
+          // float alt = gps_valid ? (float)current_gps_data.position.altitude : 0.0f;
+          float lat = (float)current_gps_data.position.latitude;
+          float lon = (float)current_gps_data.position.longitude;
+          float alt = (float)current_gps_data.position.altitude;
           uint32_t gps_time = gps_valid ? (current_gps_data.time.hour * 10000 + 
                                            current_gps_data.time.minute * 100 + 
                                            current_gps_data.time.second) : 0;
           
-          PackData(&g_data_packet, raw_adc[0], raw_adc[1], raw_adc[2], gps_time, lat, lon);
+          PackData(&g_data_packet, raw_adc[0], raw_adc[1], raw_adc[2], gps_time, lat, lon, alt);
 
           // 发送原始数据包到串口（运行时配置）
           if (Config_IsUartOutputEnabled()) {
@@ -698,10 +707,9 @@ void SystemClock_Config(void)
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
 	static uint32_t cnt = 0;
-	if(LTC2508_IsInited() == 0) return;
+	if(LTC2508_IsInited() == 0) return;  
-
 	cnt ++;
-	  // if(cnt % 5 == 0)
+	  // if(cnt % 2 == 0)
 	{
     // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
     if (GPIO_Pin == ADC_DRY_Pin) {

Core/Src/spi.c

@@ -48,9 +48,9 @@ void MX_SPI1_Init(void)
   hspi1.Init.Direction = SPI_DIRECTION_2LINES;
   hspi1.Init.DataSize = SPI_DATASIZE_16BIT;
   hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
   hspi1.Init.NSS = SPI_NSS_SOFT;
-  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
+  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -80,7 +80,7 @@ void MX_SPI2_Init(void)
   hspi2.Init.Direction = SPI_DIRECTION_2LINES_RXONLY;
   hspi2.Init.DataSize = SPI_DATASIZE_16BIT;
   hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi2.Init.CLKPhase = SPI_PHASE_2EDGE;
   hspi2.Init.NSS = SPI_NSS_SOFT;
   hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
@@ -111,7 +111,7 @@ void MX_SPI3_Init(void)
   hspi3.Init.Direction = SPI_DIRECTION_2LINES_RXONLY;
   hspi3.Init.DataSize = SPI_DATASIZE_16BIT;
   hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
-  hspi3.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
   hspi3.Init.NSS = SPI_NSS_SOFT;
   hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi3.Init.TIMode = SPI_TIMODE_DISABLE;

STM_ATEM_F405.ioc

@@ -337,21 +337,24 @@ SDIO.HardwareFlowControl=SDIO_HARDWARE_FLOW_CONTROL_DISABLE
 SDIO.IPParameters=ClockDiv,HardwareFlowControl
 SH.GPXTI1.0=GPIO_EXTI1
 SH.GPXTI1.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
-SPI1.CalculateBaudRate=21.0 MBits/s
+SPI1.CLKPhase=SPI_PHASE_2EDGE
+SPI1.CalculateBaudRate=10.5 MBits/s
 SPI1.DataSize=SPI_DATASIZE_16BIT
 SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,DataSize
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,DataSize,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
+SPI2.CLKPhase=SPI_PHASE_2EDGE
 SPI2.DataSize=SPI_DATASIZE_16BIT
 SPI2.Direction=SPI_DIRECTION_2LINES_RXONLY
-SPI2.IPParameters=VirtualType,Mode,Direction,DataSize
+SPI2.IPParameters=VirtualType,Mode,Direction,DataSize,CLKPhase
 SPI2.Mode=SPI_MODE_SLAVE
 SPI2.VirtualType=VM_SLAVE
+SPI3.CLKPhase=SPI_PHASE_2EDGE
 SPI3.DataSize=SPI_DATASIZE_16BIT
 SPI3.Direction=SPI_DIRECTION_2LINES_RXONLY
-SPI3.IPParameters=VirtualType,Mode,Direction,DataSize
+SPI3.IPParameters=VirtualType,Mode,Direction,DataSize,CLKPhase
 SPI3.Mode=SPI_MODE_SLAVE
 SPI3.VirtualType=VM_SLAVE
 TIM2.IPParameters=Prescaler,Period

Scripts/atem_parse.py

@@ -0,0 +1,686 @@
+import sys
+import time
+import numpy as np
+import pandas as pd
+import serial
+import serial.tools.list_ports
+from PyQt6.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, 
+                             QHBoxLayout, QPushButton, QFileDialog, QTableView, 
+                             QLabel, QRadioButton, QButtonGroup, QTabWidget, 
+                             QMessageBox, QHeaderView, QCheckBox, QComboBox, QSplitter)
+from PyQt6.QtCore import Qt, QAbstractTableModel, QThread, pyqtSignal, QTimer
+import pyqtgraph as pg
+
+# ==========================================
+# 1. 数据结构定义 (移除了 timestamp)
+# ==========================================
+RAW_DTYPE_V1 = np.dtype([
+    ('start_byte', '<u4'), 
+    ('adc1', '<i4'), ('adc2', '<i4'), ('adc3', '<i4'), 
+    ('checksum', '<u2'), ('end_byte', '<u2')
+])
+CORRECTED_DTYPE_V1 = np.dtype([
+    ('start_byte', '<u4'), 
+    ('corr_x', '<f4'), ('corr_y', '<f4'), ('corr_z', '<f4'), 
+    ('checksum', '<u2'), ('end_byte', '<u2')
+])
+
+# ⚠️ 注意: 移除了 timestamp，保留了 gps_altitude
+RAW_DTYPE_V2 = np.dtype([
+    ('start_byte', '<u4'), 
+    ('adc1', '<i4'), ('adc2', '<i4'), ('adc3', '<i4'), 
+    ('gps_time', '<u4'), ('gps_latitude', '<f4'), ('gps_longitude', '<f4'), 
+    ('gps_altitude', '<f4') 
+])
+CORRECTED_DTYPE_V2 = np.dtype([
+    ('start_byte', '<u4'), 
+    ('corr_x', '<f4'), ('corr_y', '<f4'), ('corr_z', '<f4'), 
+    ('gps_time', '<u4'), ('gps_latitude', '<f4'), ('gps_longitude', '<f4'), 
+    ('gps_altitude', '<f4')
+])
+
+# ==========================================
+# 2. 高性能表格模型
+# ==========================================
+class BigDataModel(QAbstractTableModel):
+    def __init__(self, data):
+        super(BigDataModel, self).__init__()
+        self._data = data
+
+    def rowCount(self, parent=None):
+        return self._data.shape[0]
+
+    def columnCount(self, parent=None):
+        return self._data.shape[1]
+
+    def data(self, index, role=Qt.ItemDataRole.DisplayRole):
+        if index.isValid() and role == Qt.ItemDataRole.DisplayRole:
+            val = self._data.iloc[index.row(), index.column()]
+            if isinstance(val, (float, np.floating)):
+                return f"{val:.6f}"
+            return str(val)
+        return None
+
+    def headerData(self, col, orientation, role):
+        if orientation == Qt.Orientation.Horizontal and role == Qt.ItemDataRole.DisplayRole:
+            return self._data.columns[col]
+        return None
+
+# ==========================================
+# 3. 后台线程：串口数据接收 (带异常安全关闭)
+# ==========================================
+class SerialReaderThread(QThread):
+    data_received = pyqtSignal(np.ndarray)
+    error_occurred = pyqtSignal(str)
+
+    def __init__(self, port, baudrate, dtype):
+        super().__init__()
+        self.port = port
+        self.baudrate = baudrate
+        self.dtype = dtype
+        self.is_running = False
+        self.serial_port = None
+
+    def run(self):
+        self.is_running = True
+        buffer = bytearray()
+        packet_size = self.dtype.itemsize
+        start_marker = b'\xff\xff\xff\xff'
+
+        try:
+            self.serial_port = serial.Serial(self.port, self.baudrate, timeout=1)
+            
+            while self.is_running:
+                if self.serial_port and self.serial_port.in_waiting > 0:
+                    data = self.serial_port.read(self.serial_port.in_waiting)
+                    buffer.extend(data)
+                    
+                    packets = []
+                    while True:
+                        idx = buffer.find(start_marker)
+                        if idx == -1:
+                            buffer = buffer[-3:] if len(buffer) >= 3 else buffer
+                            break
+                        
+                        if len(buffer) >= idx + packet_size:
+                            packet_bytes = buffer[idx : idx + packet_size]
+                            packets.append(packet_bytes)
+                            buffer = buffer[idx + packet_size :]
+                        else:
+                            buffer = buffer[idx:]
+                            break
+                            
+                    if packets:
+                        combined_bytes = b''.join(packets)
+                        parsed_arr = np.frombuffer(combined_bytes, dtype=self.dtype)
+                        self.data_received.emit(parsed_arr)
+
+        except Exception as e:
+            if self.is_running: 
+                self.error_occurred.emit(str(e))
+        finally:
+            self.stop()
+
+    def stop(self):
+        self.is_running = False
+        if self.serial_port:
+            try:
+                self.serial_port.cancel_read()
+            except Exception:
+                pass
+            try:
+                if self.serial_port.is_open:
+                    self.serial_port.close()
+            except Exception:
+                pass 
+            finally:
+                self.serial_port = None
+
+# ==========================================
+# 4. 后台线程：GPS 动态模拟输出 (10Hz)
+# ==========================================
+class GPSSimulatorThread(QThread):
+    error_occurred = pyqtSignal(str)
+
+    def __init__(self, port, baudrate):
+        super().__init__()
+        self.port = port
+        self.baudrate = baudrate
+        self.is_running = False
+        self.serial_port = None
+
+    def get_nmea_checksum(self, sentence):
+        calc_cksum = 0
+        for char in sentence:
+            calc_cksum ^= ord(char)
+        return f"{calc_cksum:02X}"
+
+    def run(self):
+        self.is_running = True
+        try:
+            self.serial_port = serial.Serial(self.port, self.baudrate, timeout=1)
+            
+            current_lat = 39.9042
+            current_lon = 116.3972
+            current_alt = 43.0  
+            
+            lat_step = 0.00001
+            lon_step = 0.00001
+            alt_step = 0.05     
+            
+            while self.is_running:
+                start_time = time.perf_counter()
+                
+                now = time.time()
+                gm_time = time.gmtime(now)
+                ms = int((now % 1) * 1000) 
+                time_str = time.strftime("%H%M%S", gm_time) + f".{ms:03d}"
+                date_str = time.strftime("%d%m%y", gm_time)
+                
+                current_lat += lat_step
+                current_lon += lon_step
+                current_alt += alt_step
+                
+                lat_deg = int(abs(current_lat))
+                lat_min = (abs(current_lat) - lat_deg) * 60
+                lat_str = f"{lat_deg:02d}{lat_min:07.4f}"
+                lat_dir = "N" if current_lat >= 0 else "S"
+                
+                lon_deg = int(abs(current_lon))
+                lon_min = (abs(current_lon) - lon_deg) * 60
+                lon_str = f"{lon_deg:03d}{lon_min:07.4f}"
+                lon_dir = "E" if current_lon >= 0 else "W"
+                
+                speed_knots = "19.4" 
+                course_true = "45.0" 
+                
+                gga_core = f"GPGGA,{time_str},{lat_str},{lat_dir},{lon_str},{lon_dir},1,08,1.0,{current_alt:.1f},M,0.0,M,,"
+                rmc_core = f"GPRMC,{time_str},A,{lat_str},{lat_dir},{lon_str},{lon_dir},{speed_knots},{course_true},{date_str},0.0,E"
+                
+                gga_sentence = f"${gga_core}*{self.get_nmea_checksum(gga_core)}\r\n"
+                rmc_sentence = f"${rmc_core}*{self.get_nmea_checksum(rmc_core)}\r\n"
+                
+                if self.serial_port and self.serial_port.is_open:
+                    self.serial_port.write(gga_sentence.encode('ascii'))
+                    self.serial_port.write(rmc_sentence.encode('ascii'))
+                
+                elapsed = time.perf_counter() - start_time
+                sleep_time = 0.1 - elapsed
+                if sleep_time > 0:
+                    time.sleep(sleep_time)
+
+        except Exception as e:
+            if self.is_running:
+                self.error_occurred.emit(str(e))
+        finally:
+            self.stop()
+
+    def stop(self):
+        self.is_running = False
+        if self.serial_port:
+            try:
+                self.serial_port.cancel_write()
+            except Exception:
+                pass
+            try:
+                if self.serial_port.is_open:
+                    self.serial_port.close()
+            except Exception:
+                pass 
+            finally:
+                self.serial_port = None
+
+# ==========================================
+# 5. 主窗口
+# ==========================================
+class DataAnalyzerUI(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("🚀 高性能数据分析工具 (含经纬度地图与海拔曲线)")
+        self.resize(1300, 900)
+        
+        self.df = pd.DataFrame()
+        self.live_data_list = []
+        self.is_live_mode = False
+        self.curves = []
+        
+        self.last_fps_time = 0
+        self.frame_count = 0
+        self.last_packet_count = 0
+        self.current_packet_count = 0
+        
+        self.is_sim_running = False
+        self.sim_thread = None
+
+        pg.setConfigOptions(antialias=False)
+        self.init_ui()
+        
+        self.plot_timer = QTimer()
+        self.plot_timer.timeout.connect(self.update_live_plot)
+        
+    def init_ui(self):
+        main_widget = QWidget()
+        self.setCentralWidget(main_widget)
+        layout = QVBoxLayout(main_widget)
+        
+        # --- 第一排工具栏 ---
+        top_bar1 = QHBoxLayout()
+        self.ver_group = QButtonGroup(self)
+        self.rb_v2 = QRadioButton("V2 (带GPS与海拔)")
+        self.rb_v2.setChecked(True)
+        self.ver_group.addButton(self.rb_v2)
+        
+        self.mode_group = QButtonGroup(self)
+        self.rb_raw = QRadioButton("原始数据 (Raw)")
+        self.rb_corr = QRadioButton("校正数据 (Corr)")
+        self.rb_raw.setChecked(True)
+        self.mode_group.addButton(self.rb_raw)
+        self.mode_group.addButton(self.rb_corr)
+        
+        btn_load = QPushButton("📂 打开文件")
+        btn_load.clicked.connect(self.load_file)
+        btn_export = QPushButton("💾 导出CSV")
+        btn_export.clicked.connect(self.export_csv)
+        
+        self.chk_mouse_mode = QCheckBox("🔍 鼠标框选放大")
+        self.chk_mouse_mode.stateChanged.connect(self.toggle_mouse_mode)
+        
+        btn_autoscale = QPushButton("⟲ 复位视图")
+        btn_autoscale.clicked.connect(self.reset_view)
+
+        top_bar1.addWidget(QLabel("版本:"))
+        top_bar1.addWidget(self.rb_v2)
+        top_bar1.addSpacing(15)
+        top_bar1.addWidget(QLabel("模式:"))
+        top_bar1.addWidget(self.rb_raw)
+        top_bar1.addWidget(self.rb_corr)
+        top_bar1.addSpacing(15)
+        top_bar1.addWidget(btn_load)
+        top_bar1.addWidget(btn_export)
+        top_bar1.addStretch()
+        top_bar1.addWidget(self.chk_mouse_mode) 
+        top_bar1.addWidget(btn_autoscale)
+        
+        # --- 第二排工具栏 ---
+        top_bar2 = QHBoxLayout()
+        self.cb_ports = QComboBox()
+        self.cb_baudrate = QComboBox()
+        self.cb_baudrate.addItems(["9600", "115200", "230400", "460800", "921600", "2000000"])
+        self.cb_baudrate.setCurrentText("115200")
+        btn_refresh_ports = QPushButton("🔄 刷新端口")
+        btn_refresh_ports.clicked.connect(self.refresh_ports)
+        self.btn_toggle_serial = QPushButton("▶ 打开接收串口")
+        self.btn_toggle_serial.setStyleSheet("background-color: #4CAF50; color: white; font-weight: bold;")
+        self.btn_toggle_serial.clicked.connect(self.toggle_serial)
+
+        top_bar2.addWidget(QLabel("🔌 接收串口:"))
+        top_bar2.addWidget(self.cb_ports)
+        top_bar2.addWidget(btn_refresh_ports)
+        top_bar2.addWidget(QLabel("波特率:"))
+        top_bar2.addWidget(self.cb_baudrate)
+        top_bar2.addWidget(self.btn_toggle_serial)
+        top_bar2.addStretch()
+
+        # --- 第三排工具栏 (GPS 模拟器) ---
+        top_bar3 = QHBoxLayout()
+        self.cb_sim_ports = QComboBox()
+        self.cb_sim_baudrate = QComboBox()
+        self.cb_sim_baudrate.addItems(["9600", "115200", "230400", "460800", "921600"])
+        self.cb_sim_baudrate.setCurrentText("115200")
+        self.btn_toggle_sim = QPushButton("🛰 开启GPS动态模拟 (10Hz)")
+        self.btn_toggle_sim.setStyleSheet("background-color: #FF9800; color: white; font-weight: bold;")
+        self.btn_toggle_sim.clicked.connect(self.toggle_gps_sim)
+        
+        top_bar3.addWidget(QLabel("📡 输出串口:"))
+        top_bar3.addWidget(self.cb_sim_ports)
+        top_bar3.addWidget(QLabel("波特率:"))
+        top_bar3.addWidget(self.cb_sim_baudrate)
+        top_bar3.addWidget(self.btn_toggle_sim)
+        top_bar3.addStretch()
+
+        layout.addLayout(top_bar1)
+        layout.addLayout(top_bar2)
+        layout.addLayout(top_bar3)
+        self.refresh_ports()
+        
+        # --- 监控栏 ---
+        info_layout = QHBoxLayout()
+        self.lbl_info = QLabel("请加载文件或打开串口接收数据...")
+        self.lbl_info.setStyleSheet("color: blue; font-weight: bold;")
+        self.lbl_fps = QLabel("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒")
+        self.lbl_fps.setStyleSheet("color: #E91E63; font-weight: bold;") 
+        info_layout.addWidget(self.lbl_info)
+        info_layout.addStretch()
+        info_layout.addWidget(self.lbl_fps)
+        layout.addLayout(info_layout)
+        
+        # ==========================================
+        # 多标签内容区域设置
+        # ==========================================
+        self.tabs = QTabWidget()
+        layout.addWidget(self.tabs)
+        
+        # [Tab 1] 主波形图
+        self.plot_widget = pg.PlotWidget()
+        self.plot_widget.setBackground('w')
+        self.plot_widget.showGrid(x=True, y=True, alpha=0.3)
+        self.plot_widget.addLegend()
+        self.plot_widget.setLabel('bottom', 'Data Points (Index)') # 更新了标签
+        self.plot_widget.setLabel('left', 'Value')
+        self.vb = self.plot_widget.plotItem.vb
+        self.tabs.addTab(self.plot_widget, "📈 波形图 (Plot)")
+        
+        # [Tab 2] GPS 轨迹与海拔视图
+        traj_container = QWidget()
+        traj_layout = QVBoxLayout(traj_container)
+        traj_splitter = QSplitter(Qt.Orientation.Vertical)
+        
+        self.traj_plot = pg.PlotWidget(title="🗺️ 实时轨迹 (经度 vs 纬度)")
+        self.traj_plot.setBackground('w')
+        self.traj_plot.showGrid(x=True, y=True, alpha=0.5)
+        self.traj_plot.setLabel('bottom', 'Longitude (经度)')
+        self.traj_plot.setLabel('left', 'Latitude (纬度)')
+        self.traj_curve = self.traj_plot.plot(pen=pg.mkPen('b', width=2), symbol='o', symbolSize=3, symbolBrush='b')
+        
+        self.alt_plot = pg.PlotWidget(title="⛰️ 海拔高度 (Altitude)")
+        self.alt_plot.setBackground('w')
+        self.alt_plot.showGrid(x=True, y=True, alpha=0.5)
+        self.alt_plot.setLabel('bottom', 'Data Points (Index)') # 更新了标签
+        self.alt_plot.setLabel('left', 'Altitude (m)')
+        self.alt_curve = self.alt_plot.plot(pen=pg.mkPen('g', width=2))
+        
+        traj_splitter.addWidget(self.traj_plot)
+        traj_splitter.addWidget(self.alt_plot)
+        traj_layout.addWidget(traj_splitter)
+        self.tabs.addTab(traj_container, "🗺️ 轨迹与海拔 (Trajectory)")
+        
+        # [Tab 3] 数据表格
+        self.table_view = QTableView()
+        self.table_view.setAlternatingRowColors(True)
+        self.table_view.horizontalHeader().setSectionResizeMode(QHeaderView.ResizeMode.Interactive)
+        self.tabs.addTab(self.table_view, "🔢 数据表 (Table)")
+
+    def get_current_dtype(self):
+        is_v2 = self.rb_v2.isChecked()
+        is_raw = self.rb_raw.isChecked()
+        if is_v2:
+            return RAW_DTYPE_V2 if is_raw else CORRECTED_DTYPE_V2
+        return RAW_DTYPE_V1 if is_raw else CORRECTED_DTYPE_V1
+
+    def get_column_config(self):
+        is_v2 = self.rb_v2.isChecked()
+        is_raw = self.rb_raw.isChecked()
+        
+        # 这里移除了 timestamp
+        if is_raw:
+            base_cols = ['adc1', 'adc2', 'adc3']
+            labels = ['ADC 1', 'ADC 2', 'ADC 3']
+            data_cols = ['adc1', 'adc2', 'adc3']
+        else:
+            base_cols = ['corr_x', 'corr_y', 'corr_z']
+            labels = ['X Axis', 'Y Axis', 'Z Axis']
+            data_cols = ['corr_x', 'corr_y', 'corr_z']
+
+        cols = base_cols + ['gps_time', 'gps_latitude', 'gps_longitude', 'gps_altitude'] if is_v2 else base_cols + ['checksum']
+        return cols, data_cols, labels
+
+    def load_file(self):
+        if self.is_live_mode:
+            QMessageBox.warning(self, "警告", "请先关闭串口后再加载文件。")
+            return
+
+        file_name, _ = QFileDialog.getOpenFileName(self, "选择文件", "", "Data (*.dat);;All (*)")
+        if not file_name: return
+            
+        try:
+            dtype = self.get_current_dtype()
+            raw_data = np.fromfile(file_name, dtype=dtype)
+            if len(raw_data) == 0: return
+
+            self.df = pd.DataFrame(raw_data)
+            cols, data_cols, labels = self.get_column_config()
+
+            self.lbl_info.setText(f"文件加载成功 | {len(self.df)} 行 | 版本: {'V2' if self.rb_v2.isChecked() else 'V1'}")
+            self.lbl_fps.setText("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒")
+            self.refresh_table(cols)
+            self.plot_static_data(data_cols, labels)
+
+        except Exception as e:
+            QMessageBox.critical(self, "解析错误", str(e))
+
+    def refresh_table(self, cols):
+        display_df = self.df[cols] if not self.df.empty else pd.DataFrame(columns=cols)
+        self.model = BigDataModel(display_df)
+        self.table_view.setModel(self.model)
+        self.table_view.resizeColumnsToContents()
+
+    def plot_static_data(self, data_cols, labels):
+        # 1. 主波形图静态渲染
+        self.plot_widget.clear()
+        self.curves.clear()
+        colors = ['#FF0000', '#00AA00', '#0000FF']
+        
+        # 移除了 timestamp，改为使用数据点索引
+        x_data = np.arange(len(self.df))
+        
+        for i, col in enumerate(data_cols):
+            y_data = self.df[col].values
+            curve = pg.PlotCurveItem(x=x_data, y=y_data, pen=pg.mkPen(color=colors[i], width=1.5),
+                                     name=labels[i], skipFiniteCheck=True, autoDownsample=True, clipToView=True)
+            self.plot_widget.addItem(curve)
+        
+        self.plot_widget.setLabel('bottom', 'Data Points (Index)')
+        self.reset_view()
+
+        # 2. 轨迹和海拔静态渲染
+        if self.rb_v2.isChecked() and 'gps_longitude' in self.df.columns:
+            lons = self.df['gps_longitude'].values
+            lats = self.df['gps_latitude'].values
+            alts = self.df['gps_altitude'].values if 'gps_altitude' in self.df.columns else np.zeros_like(lons)
+            
+            valid_idx = (lons != 0.0) & (lats != 0.0)
+            if np.any(valid_idx):
+                self.traj_curve.setData(lons[valid_idx], lats[valid_idx])
+            else:
+                self.traj_curve.setData(lons, lats)
+                
+            self.alt_curve.setData(alts)
+            self.traj_plot.autoRange()
+            self.alt_plot.autoRange()
+        else:
+            self.traj_curve.setData([], [])
+            self.alt_curve.setData([])
+
+    def refresh_ports(self):
+        self.cb_ports.clear()
+        self.cb_sim_ports.clear()
+        ports = serial.tools.list_ports.comports()
+        for p in ports:
+            port_name = f"{p.device} - {p.description}"
+            self.cb_ports.addItem(port_name, p.device)
+            self.cb_sim_ports.addItem(port_name, p.device)
+
+    def toggle_serial(self):
+        if not self.is_live_mode:
+            port = self.cb_ports.currentData()
+            if not port:
+                QMessageBox.warning(self, "提示", "未找到有效串口")
+                return
+                
+            baud = int(self.cb_baudrate.currentText())
+            dtype = self.get_current_dtype()
+
+            self.df = pd.DataFrame()
+            self.live_data_list = []
+            
+            self.plot_widget.clear()
+            self.curves.clear()
+            self.traj_curve.setData([], [])
+            self.alt_curve.setData([])
+            
+            self.plot_widget.setLabel('bottom', 'Latest Points (Index)')
+            
+            colors = ['#FF0000', '#00AA00', '#0000FF']
+            _, _, labels = self.get_column_config()
+            for i in range(len(labels)):
+                curve = pg.PlotCurveItem(pen=pg.mkPen(color=colors[i], width=1.5), name=labels[i])
+                self.plot_widget.addItem(curve)
+                self.curves.append(curve)
+
+            self.current_packet_count = 0
+            self.last_packet_count = 0
+            self.frame_count = 0
+            self.last_fps_time = time.perf_counter()
+            self.lbl_fps.setText("📈 绘图帧率: 计算中... | 📥 接收率: 计算中...")
+
+            self.serial_thread = SerialReaderThread(port, baud, dtype)
+            self.serial_thread.data_received.connect(self.on_live_data_received)
+            self.serial_thread.error_occurred.connect(self.on_serial_error)
+            self.serial_thread.start()
+
+            self.plot_timer.start(50) 
+
+            self.is_live_mode = True
+            self.btn_toggle_serial.setText("⏹ 关闭串口停止接收")
+            self.btn_toggle_serial.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;")
+            
+            self.rb_v2.setEnabled(False)
+            self.rb_raw.setEnabled(False)
+            self.rb_corr.setEnabled(False)
+            
+        else:
+            self.serial_thread.stop()
+            self.serial_thread.wait()
+            self.plot_timer.stop()
+            
+            self.is_live_mode = False
+            self.btn_toggle_serial.setText("▶ 打开接收串口")
+            self.btn_toggle_serial.setStyleSheet("background-color: #4CAF50; color: white; font-weight: bold;")
+            self.lbl_fps.setText("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒")
+            
+            self.rb_v2.setEnabled(True)
+            self.rb_raw.setEnabled(True)
+            self.rb_corr.setEnabled(True)
+            
+            if self.live_data_list:
+                full_array = np.concatenate(self.live_data_list)
+                self.df = pd.DataFrame(full_array)
+                cols, _, _ = self.get_column_config()
+                self.refresh_table(cols)
+                self.lbl_info.setText(f"串口采集完毕。总计收集 {len(self.df)} 行数据。")
+
+    def on_live_data_received(self, data_array):
+        self.live_data_list.append(data_array)
+        self.current_packet_count += len(data_array)
+        self.lbl_info.setText(f"🟢 正在接收数据... 已接收: {self.current_packet_count} 帧")
+
+    def update_live_plot(self):
+        self.frame_count += 1
+        current_time = time.perf_counter()
+        elapsed = current_time - self.last_fps_time
+        
+        if elapsed >= 1.0:
+            fps = self.frame_count / elapsed
+            pps = (self.current_packet_count - self.last_packet_count) / elapsed
+            self.lbl_fps.setText(f"📈 绘图帧率: {fps:.1f} FPS | 📥 接收率: {pps:.0f} 包/秒")
+            
+            self.last_fps_time = current_time
+            self.frame_count = 0
+            self.last_packet_count = self.current_packet_count
+
+        if not self.live_data_list:
+            return
+            
+        MAX_POINTS = 5000 
+        recent_chunks = []
+        point_count = 0
+        for arr in reversed(self.live_data_list):
+            recent_chunks.append(arr)
+            point_count += len(arr)
+            if point_count >= MAX_POINTS:
+                break
+                
+        recent_data = np.concatenate(recent_chunks[::-1])
+        if len(recent_data) > MAX_POINTS:
+            recent_data = recent_data[-MAX_POINTS:]
+
+        # 1. 更新主波形图 (自动以接收点索引作为 X 轴)
+        _, data_cols, _ = self.get_column_config()
+        for i, col in enumerate(data_cols):
+            y_data = recent_data[col]#  / 429496729.0
+            self.curves[i].setData(y_data)
+
+        # 2. 更新轨迹和海拔
+        if self.rb_v2.isChecked() and 'gps_longitude' in recent_data.dtype.names:
+            lons = recent_data['gps_longitude']
+            lats = recent_data['gps_latitude']
+            alts = recent_data['gps_altitude'] if 'gps_altitude' in recent_data.dtype.names else np.zeros_like(lons)
+            
+            valid_idx = (lons != 0.0) & (lats != 0.0)
+            if np.any(valid_idx):
+                self.traj_curve.setData(lons[valid_idx], lats[valid_idx])
+            else:
+                self.traj_curve.setData(lons, lats)
+                
+            self.alt_curve.setData(alts)
+
+    def on_serial_error(self, err_msg):
+        self.toggle_serial() 
+        QMessageBox.critical(self, "接收串口错误", f"发生错误：\n{err_msg}")
+
+    def toggle_gps_sim(self):
+        if not self.is_sim_running:
+            port = self.cb_sim_ports.currentData()
+            if not port:
+                QMessageBox.warning(self, "提示", "未找到有效的输出串口")
+                return
+            
+            if self.is_live_mode and port == self.cb_ports.currentData():
+                reply = QMessageBox.question(self, "警告", 
+                                             "模拟输出端口与当前接收端口相同，可能会导致端口冲突。确定要继续吗？",
+                                             QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No)
+                if reply == QMessageBox.StandardButton.No: return
+                
+            baud = int(self.cb_sim_baudrate.currentText())
+            self.sim_thread = GPSSimulatorThread(port, baud)
+            self.sim_thread.error_occurred.connect(self.on_sim_error)
+            self.sim_thread.start()
+            
+            self.is_sim_running = True
+            self.btn_toggle_sim.setText("⏹ 关闭GPS动态模拟")
+            self.btn_toggle_sim.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;")
+        else:
+            self.sim_thread.stop()
+            self.sim_thread.wait()
+            
+            self.is_sim_running = False
+            self.btn_toggle_sim.setText("🛰 开启GPS动态模拟 (10Hz)")
+            self.btn_toggle_sim.setStyleSheet("background-color: #FF9800; color: white; font-weight: bold;")
+
+    def on_sim_error(self, err_msg):
+        self.toggle_gps_sim() 
+        QMessageBox.critical(self, "输出串口错误", f"模拟器串口发生错误：\n{err_msg}")
+
+    def toggle_mouse_mode(self, state):
+        mode = self.vb.RectMode if state == 2 else self.vb.PanMode
+        self.vb.setMouseMode(mode)
+        self.traj_plot.plotItem.vb.setMouseMode(mode)
+        self.alt_plot.plotItem.vb.setMouseMode(mode)
+
+    def reset_view(self):
+        self.plot_widget.autoRange()
+        self.traj_plot.autoRange()
+        self.alt_plot.autoRange()
+
+    def export_csv(self):
+        if self.df.empty: return
+        path, _ = QFileDialog.getSaveFileName(self, "保存", "export.csv", "CSV (*.csv)")
+        if path:
+            self.df.to_csv(path, index=False)
+            QMessageBox.information(self, "完成", "导出成功")
+
+if __name__ == "__main__":
+    app = QApplication(sys.argv)
+    w = DataAnalyzerUI()
+    w.show()
+    sys.exit(app.exec())

User/data_packet.c

@@ -19,7 +19,7 @@ uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len) {
 }
 
 void PackData(DataPacket_t *packet, int32_t adc1, int32_t adc2, int32_t adc3,
-              uint32_t gps_time, float latitude, float longitude)
+              uint32_t gps_time, float latitude, float longitude, float altitude)
 {
     if (packet == NULL) return;
     
@@ -27,7 +27,7 @@ void PackData(DataPacket_t *packet, int32_t adc1, int32_t adc2, int32_t adc3,
     packet->start_byte = PACKET_START_BYTE;
     
     // 设置时间戳
-    packet->timestamp = HAL_GetTick();
+//    packet->timestamp = HAL_GetTick();
     
     // 设置ADC数据
     packet->adc_data1 = adc1;
@@ -38,6 +38,7 @@ void PackData(DataPacket_t *packet, int32_t adc1, int32_t adc2, int32_t adc3,
     packet->gps_time = gps_time;
     packet->gps_latitude = latitude;
     packet->gps_longitude = longitude;
+    packet->gps_altitude = altitude;
 }
 
 uint8_t ValidatePacket(const DataPacket_t *packet)
@@ -63,7 +64,7 @@ uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet)
 }
 
 void PackCorrectedData(CorrectedDataPacket_t *packet, float x, float y, float z,
-                       uint32_t gps_time, float latitude, float longitude)
+                       uint32_t gps_time, float latitude, float longitude, float altitude)
 {
     if (packet == NULL) return;
     
@@ -71,7 +72,7 @@ void PackCorrectedData(CorrectedDataPacket_t *packet, float x, float y, float z,
     packet->start_byte = PACKET_START_BYTE;
     
     // 设置时间戳
-    packet->timestamp = HAL_GetTick();
+    // packet->timestamp = HAL_GetTick();
     
     // 设置校正后数据
     packet->corrected_x = x;
@@ -82,10 +83,11 @@ void PackCorrectedData(CorrectedDataPacket_t *packet, float x, float y, float z,
     packet->gps_time = gps_time;
     packet->gps_latitude = latitude;
     packet->gps_longitude = longitude;
+    packet->gps_altitude = altitude;
 }
 
 void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet, float x, float y, float z,
-                              uint32_t gps_time, float latitude, float longitude)
+                              uint32_t gps_time, float latitude, float longitude, float altitude)
 {
     if (packet == NULL) return;
     
@@ -93,7 +95,7 @@ void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet, float x, flo
     packet->start_byte = PACKET_START_BYTE;
     
     // 设置时间戳
-    packet->timestamp = HAL_GetTick();
+    // packet->timestamp = HAL_GetTick();
     
     // 设置校正后数据
     packet->corrected_x = x;
@@ -104,6 +106,7 @@ void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet, float x, flo
     packet->gps_time = gps_time;
     packet->gps_latitude = latitude;
     packet->gps_longitude = longitude;
+    packet->gps_altitude = altitude;
 }
 
 uint8_t ValidateCorrectedPacketWithGPS(const CorrectedDataPacketWithGPS_t *packet)

User/data_packet.h

@@ -9,47 +9,50 @@
 // 数据包结构（精简版 - 有包头无校验和，含GPS）
 typedef struct __attribute__((packed)) {
     uint32_t start_byte;        // 包头 (4字节) = 0xFFFFFFFF
-    uint32_t timestamp;         // 系统时间戳 (4字节)
+    // uint32_t timestamp;         // 系统时间戳 (4字节)
     int32_t adc_data1;          // ADC1 数据 (4字节)
     int32_t adc_data2;          // ADC2 数据 (4字节)
     int32_t adc_data3;          // ADC3 数据 (4字节)
     uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
     float gps_latitude;         // GPS纬度 (4字节)
     float gps_longitude;        // GPS经度 (4字节)
+    float gps_altitude;         // GPS海拔 (4字节)
 } DataPacket_t;
 
 // 校正后数据包结构（精简版 - 有包头无校验和，含GPS）
 typedef struct __attribute__((packed)) {
     uint32_t start_byte;        // 包头 (4字节) = 0xFFFFFFFF
-    uint32_t timestamp;         // 系统时间戳 (4字节)
+    // uint32_t timestamp;         // 系统时间戳 (4字节)
     float corrected_x;          // 校正后X轴数据 (4字节)
     float corrected_y;          // 校正后Y轴数据 (4字节)
     float corrected_z;          // 校正后Z轴数据 (4字节)
     uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
     float gps_latitude;         // GPS纬度 (4字节)
     float gps_longitude;        // GPS经度 (4字节)
+    float gps_altitude;         // GPS海拔 (4字节)
 } CorrectedDataPacket_t;
 
 // 带GPS信息的校正数据包结构（精简版 - 有包头无校验和）
 typedef struct __attribute__((packed)) {
     uint32_t start_byte;        // 包头 (4字节) = 0xFFFFFFFF
-    uint32_t timestamp;         // 系统时间戳 (4字节)
+    // uint32_t timestamp;         // 系统时间戳 (4字节)
     float corrected_x;          // 校正后X轴数据 (4字节)
     float corrected_y;          // 校正后Y轴数据 (4字节)
     float corrected_z;          // 校正后Z轴数据 (4字节)
     uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
     float gps_latitude;         // GPS纬度 (4字节)
     float gps_longitude;        // GPS经度 (4字节)
+    float gps_altitude;         // GPS海拔 (4字节)
 } CorrectedDataPacketWithGPS_t;
 
 // 函数声明
 uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len);
 void PackData(DataPacket_t *packet, int32_t adc1, int32_t adc2, int32_t adc3, 
-              uint32_t gps_time, float latitude, float longitude);
+              uint32_t gps_time, float latitude, float longitude, float altitude);
 void PackCorrectedData(CorrectedDataPacket_t *packet, float x, float y, float z,
-                       uint32_t gps_time, float latitude, float longitude);
+                       uint32_t gps_time, float latitude, float longitude, float altitude);
 void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet, float x, float y, float z, 
-                              uint32_t gps_time, float latitude, float longitude);
+                              uint32_t gps_time, float latitude, float , float altitude);
 uint8_t ValidatePacket(const DataPacket_t *packet);
 uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet);
 uint8_t ValidateCorrectedPacketWithGPS(const CorrectedDataPacketWithGPS_t *packet);

User/data_storage.h

@@ -10,7 +10,7 @@
 
 // 数据存储配置
 #define DATA_STORAGE_BUFFER_SIZE    32768           // 缓冲区大小(字节)
-#define DATA_STORAGE_FILE_MAX_SIZE  (20*1024*1024)  // 单个文件最大20MB
+#define DATA_STORAGE_FILE_MAX_SIZE  (100*1024*1024)  // 单个文件最大100MB
 #define DATA_STORAGE_BASE_PATH      "0:/DATA"       // 数据存储基础路径
 #define DATA_STORAGE_FILE_PREFIX    "/ADC_DATA_"    // 文件名前缀
 #define DATA_STORAGE_FOLDER_PREFIX  "SESSION_"      // 文件夹名前缀

User/gps_driver.h

@@ -82,7 +82,7 @@ typedef struct {
 #define GPS_UART_HANDLE         huart3          // GPS使用的UART句柄
 #define GPS_RX_BUFFER_SIZE      512             // 接收缓冲区大小
 #define GPS_NMEA_MAX_LENGTH     128             // NMEA语句最大长度
-#define GPS_DATA_TIMEOUT_MS     2000            // 数据超时时间(ms)
+#define GPS_DATA_TIMEOUT_MS     10000            // 数据超时时间(ms)
 
 /* Exported macro ------------------------------------------------------------*/